Task Priority Matrix Under Hard Joint Constraints

Maram Khatib, Khaled Al Khudir, Alessandro De Luca

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    Abstract

    We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints. This is done by combining TPM with a modified version of the basic Saturation in the Null Space (SNS) algorithm. Comparative simulations are reported for the 21-DOFs Romeo humanoid robot.
    Original languageEnglish
    Title of host publicationProceedings of the Second Italian Conference on Robotics and Intelligent Machines 2020
    Number of pages2
    ISBN (Electronic)9788894580518
    Publication statusPublished - 10 Dec 2020
    Event2nd Italian Conference on Robotics and Intelligent Machines - Online
    Duration: 10 Dec 202012 Dec 2020
    Conference number: 2
    https://i-rim.it/en/i-rim-conference-2020/

    Conference

    Conference2nd Italian Conference on Robotics and Intelligent Machines
    Abbreviated title2020 I-RIM
    Period10/12/2012/12/20
    Internet address

    Bibliographical note

    Open access

    Keywords

    • Motion control
    • redundant robots
    • task priority

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